//
// Copyright (c) 2019-2020 CNRS INRIA
//

#ifndef __pinocchio_python_joints_datas_hpp__
#define __pinocchio_python_joints_datas_hpp__

namespace pinocchio
{
  namespace python
  {
    namespace bp = boost::python;

    // generic expose_joint_data : do nothing special
    template<class T>
    inline bp::class_<T> & expose_joint_data(bp::class_<T> & cl)
    {
      return cl;
    }

    // specialization for JointDataRevoluteUnaligned
    template<>
    inline bp::class_<JointDataRevoluteUnaligned> &
    expose_joint_data<JointDataRevoluteUnaligned>(bp::class_<JointDataRevoluteUnaligned> & cl)
    {
      return cl.def(bp::init<const Eigen::Vector3d &>(
        bp::args("axis"), "Init JointDataRevoluteUnaligned from an axis with x-y-z components"));
    }

    // specialization for JointDataPrismaticUnaligned
    template<>
    inline bp::class_<JointDataPrismaticUnaligned> &
    expose_joint_data<JointDataPrismaticUnaligned>(bp::class_<JointDataPrismaticUnaligned> & cl)
    {
      return cl.def(bp::init<const Eigen::Vector3d &>(
        bp::args("axis"), "Init JointDataPrismaticUnaligned from an axis with x-y-z components"));
    }

    // specialization for JointDataHelicalUnaligned
    template<>
    inline bp::class_<JointDataHelicalUnaligned> &
    expose_joint_data<JointDataHelicalUnaligned>(bp::class_<JointDataHelicalUnaligned> & cl)
    {
      return cl.def(bp::init<const Eigen::Vector3d &>(
        bp::args("axis"), "Init JointDataHelicalUnaligned from an axis with x-y-z components"));
    }

    template<>
    inline bp::class_<JointDataPlanar> &
    expose_joint_data<JointDataPlanar>(bp::class_<JointDataPlanar> & cl)
    {
      return cl.add_property("StU", &JointDataPlanar::StU);
    }

    template<>
    inline bp::class_<JointDataSphericalZYX> &
    expose_joint_data<JointDataSphericalZYX>(bp::class_<JointDataSphericalZYX> & cl)
    {
      return cl.add_property("StU", &JointDataSphericalZYX::StU);
    }

    template<>
    inline bp::class_<JointDataComposite> &
    expose_joint_data<JointDataComposite>(bp::class_<JointDataComposite> & cl)
    {
      return cl
        .def(bp::init<const JointDataComposite::JointDataVector &, const int, const int>(
          bp::args("joint_data_vectors", "nq", "nv"),
          "Init JointDataComposite from a given collection of joint data"))
        .add_property("joints", &JointDataComposite::joints)
        .add_property("iMlast", &JointDataComposite::iMlast)
        .add_property("pjMi", &JointDataComposite::pjMi)
        .add_property("StU", &JointDataComposite::StU);
    }

  } // namespace python
} // namespace pinocchio

#endif // ifndef __pinocchio_python_joint_datas_hpp__
